# order is:
# Heading
# Position
# Orientation
# Velocity
# AngularVelocity

# Relative Orientation
# Relative Angular Velocity
#----------------

# Heading
0.069384

# Root(body)
0 0.755416 0
0.990277 0.138070 -0.000000 0.016994
-0.018612 -0.197306 1.820021
-0.604616 -0.140997 -0.283845

# body_neck
0.955227 0.295487 -0.004470 0.014429
-0.003490 -0.035897 0.258293

# lHip
0.989594 0.089781 -0.000441 -0.112439
-4.381931 0.135930 0.950446

# rHip
0.979833 0.165453 -0.095736 0.058196
2.358256 -0.605128 0.110324

# neck_head
0.985349 -0.145141 -0.083201 -0.033159
-1.183227 -0.090818 0.019977

# lKnee
0.775342 -0.631542 0.000000 -0.000002
5.663786 -0.001178 -0.001422

# rKnee
0.946385 -0.323041 0.000000 -0.000001
2.146468 0.000065 -0.000549

# lAnkle
0.944913 0.311290 0.031658 0.096100
-1.692643 -0.348691 -0.772973

# rAnkle
0.998870 0.038512 -0.001072 -0.027814
-2.786725 0.155964 0.716348

